CN109780370B

CN109780370B - Pipeline three-dimensional curve measuring robot and implementation method thereof

Info

Publication number: CN109780370B
Application number: CN201910054508.2A
Authority: CN
Inventors: 李清泉; 陈智鹏; 殷煜; 程翔; 朱家松
Original assignee: Shenzhen University
Current assignee: Shenzhen University
Priority date: 2019-01-21
Filing date: 2019-01-21
Publication date: 2020-05-26
Anticipated expiration: 2039-01-21
Also published as: WO2020151363A1; US20200400419A1; RU2748786C1; US11796299B2; CN109780370A

Abstract

The invention provides a pipeline three-dimensional curve measuring robot and an implementation method thereof, wherein the measuring robot comprises: the device comprises an electronic bin, a sliding rod, a wheel bracket, a travelling wheel arranged on the wheel bracket, a mileage wheel arranged on the sliding rod on one side and an encoder; the electronic bin is internally provided with: the device comprises an inertia measurement unit, an acquisition control module and a power supply module; when the measuring robot is used for measuring, the measuring robot is controlled to move back and forth in a pipeline, and measuring data are collected; and comparing the measured data with the three-dimensional curve data of the pipeline reference moment to obtain the three-dimensional curve deformation of the pipeline. The measuring robot provided by the invention realizes that the measuring point of the pipeline robot is always kept on the central axis of the pipeline by synchronously tensioning the travelling wheels, and realizes high-precision mileage measurement by independently tensioning the mileage wheels. The inertial navigation measuring device provided by the invention can realize millimeter-scale pipeline three-dimensional curve deformation measurement precision and meet the requirement of deformation monitoring.

Description

Pipeline three-dimensional curve measuring robot and implementation method thereof

Technical Field

The invention relates to the technical field of engineering measurement and pipeline measurement, in particular to a pipeline three-dimensional curve measuring robot based on an inertial navigation/odometer and an implementation method thereof.

Background

The pipeline is a common linear channel structure, can be used for transporting fluid substances, such as natural gas, petroleum, water and the like, and can also be used as a machine operation channel, such as a soil body structure deformation observation pipeline. Pipe measurement generally refers to measuring a three-dimensional shape curve of a pipe. At present, the commonly used pipeline measurement is generally used for mastering the position and the trend of a pipeline according to the management and detection requirements, such as petroleum pipeline measurement, underground pipeline measurement and the like. According to the relative position relationship between the instrument and the pipeline, the measurement can be divided into external measurement and internal measurement. The position and the direction of the pipeline are generally measured by methods such as electromagnetic waves, sound waves, tracers and the like. Due to the obstruction of the buried soil, the precision is generally poor, and the highest precision is in the decimeter level. The pipeline robot is generally adopted for measuring in the pipeline, the gyroscope/odometer sensor is mostly adopted for combining the pipeline robot at present, and meanwhile, the measuring robot is ensured to move on a pipeline central line on a mechanical structure. However, due to the reasons of mechanical structure design, sensor device configuration, calculation algorithm and the like, the highest measurement precision of the conventional pipeline robot is mostly in centimeter level (100 meters), and the conventional pipeline robot can only be used for measuring the position and the direction of the pipeline. In summary, the accuracy of the existing pipeline measurement technology can only reach centimeter level at the highest. Generally, the accuracy requirement of deformation monitoring is in mm class (100 m pipeline length), and the existing measuring method and equipment cannot meet the requirement of pipeline deformation monitoring.

Therefore, the prior art is subject to further improvement.

Disclosure of Invention

In view of the defects in the prior art, the invention aims to provide a pipeline three-dimensional curve measuring robot and a measuring method thereof, and overcomes the defect that the measuring accuracy of a measuring device in the prior art is only in centimeter level and cannot meet the pipeline deformation monitoring requirement.

The first embodiment provided by the invention is a pipeline three-dimensional curve measuring robot, which comprises:

the device comprises an electronic bin, sliding rods connected with the centers of two sides of the electronic bin, a wheel bracket connected with the sliding rods through linear bearings, at least two groups of travelling wheels uniformly distributed on the wheel bracket, at least one group of mileage wheels arranged on the sliding rods on one side of the electronic bin and provided with independent retractable wheel carriers, and encoders arranged on the mileage wheels; the sliding rods at the two ends of the linear bearing are provided with springs;

the electronic bin is internally provided with: the inertia measurement unit, the acquisition control module and the power supply module are arranged on the acquisition board;

each traveling wheel contracts synchronously through the spring so that the geometric center of the inertia measurement unit is positioned on the central axis of the electronic cabin;

the acquisition control module is used for controlling the inertial measurement unit and the encoder to acquire the measurement data and comparing the measurement data with the three-dimensional curve data of the pipeline reference time to obtain the three-dimensional curve deformation of the pipeline.

Optionally, the acquisition control module is further provided with an FPGA unit and a crystal oscillator unit;

the inertia measurement unit is connected with the FPGA unit through an RS-422 to LVTTL interface;

the FPGA unit is in communication connection with an upper computer through a UART interface and a USB-to-serial interface respectively; the system is used for triggering and controlling an inertia measurement unit and the encoder to synchronously acquire measurement data according to a clock signal output by the crystal oscillator unit and uploading the acquired measurement data to an upper computer unit;

the upper computer unit sends a data acquisition control instruction to the FPGA unit through the UART interface and receives measurement data through the USB-to-serial port interface.

Optionally, two ends of the sliding rod are provided with power traction devices;

the power traction device comprises: a drive motor and an electric capstan; the driving motor drives a pull wire on the electric winch to pull the measuring robot to move back and forth.

Optionally, the number of the walking wheels is three, and the walking wheels are uniformly and symmetrically arranged.

Optionally, the number of the mileage wheels is three, and the three mileage wheels are uniformly and symmetrically arranged.

Optionally, the power module is connected with the inertia measurement unit, the FPGA unit, the crystal oscillator unit and the upper computer unit.

The second embodiment provided by the invention is an implementation method for measuring a three-dimensional curve of a pipeline by a robot, wherein the implementation method comprises the following steps:

controlling the measuring robot to keep the geometric center of the inertial measuring unit consistent with the central axis of the electronic bin to move back and forth in the pipeline, and simultaneously collecting measuring data by the inertial measuring unit and the encoder;

and comparing the measurement data acquired by the inertial measurement unit and the encoder with the three-dimensional curve data of the pipeline reference moment to obtain the three-dimensional curve deformation of the pipeline.

Optionally, the step of controlling the measuring robot to keep the geometric center of the inertial measuring unit consistent with the central axis of the electronic cabin moving back and forth in the pipeline further includes:

each travelling wheel synchronously contracts through a spring arranged on the sliding rod and independently contracts through at least one group of mileage wheels of each independent contraction wheel carrier to keep the geometric center of the inertia measurement unit on the central axis of the electronic bin;

and controlling the measuring robot to move back and forth in the pipeline by the power traction devices arranged at the two ends of the sliding rod.

Optionally, the acquisition board is further provided with an FPGA unit, a crystal oscillator unit and an upper computer unit;

the method further comprises the following steps:

the FPGA unit triggers and controls the inertia measurement unit and the encoder to synchronously acquire measurement data according to a clock signal output by the crystal oscillator unit and uploads the acquired measurement data to the upper computer unit;

and the upper computer unit compares the received measurement data with the three-dimensional curve data of the pipeline reference time to obtain the deformation of the three-dimensional curve of the pipeline.

The pipeline three-dimensional curve measuring robot and the implementation method thereof have the advantages that the measuring points of the pipeline measuring vehicle are always kept on the central axis of the pipeline through the synchronous tensioning walking wheels, high-precision mileage measurement is realized through the independent tensioning mileage wheels, and synchronous data acquisition of a multi-path mileage meter and high-precision inertial navigation is realized through the high-precision integrated acquisition board. The inertial navigation measuring device provided by the invention can realize millimeter-scale pipeline three-dimensional curve deformation measurement precision and can meet the requirement of deformation monitoring.

Drawings

FIG. 1 is a front view of a measurement robot provided by the present invention;

FIG. 2 is a rear view of a measurement robot provided by the present invention;

FIG. 3 is a left side view of a measurement robot provided by the present invention;

FIG. 4 is a right side view of a measurement robot provided by the present invention;

FIG. 5 is the logic for implementing the multi-sensor high-precision synchronization of the pipeline measuring robot provided by the invention;

FIG. 6 is a schematic structural diagram of a measuring robot power traction device according to the present invention;

FIG. 7 is an implementation method of the measuring robot for measuring a three-dimensional curve of a pipeline provided by the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The invention provides a high-precision three-dimensional curve measuring robot for a deformation monitoring pipeline and an implementation method thereof, aiming at the problem of low precision of the existing pipeline measuring device. Specifically, the pipeline is used as a deformation monitoring device and is embedded into a deformation position to be monitored during construction of the civil structure, a three-dimensional curve of the pipeline is measured through a pipeline measuring robot, and the curves in different periods are compared, so that the deformation amount of the structure is monitored.

A first embodiment of the present invention provides a robot for measuring a three-dimensional curve of a pipeline, as shown in fig. 1, including:

the electronic device comprises an electronic bin 20, a sliding rod 10 connected with the centers of two sides of the electronic bin 20, a wheel bracket connected with the sliding rod 10 through a linear bearing 102, at least two groups of walking wheels 103 which are uniformly distributed on the wheel bracket, at least one group of mileage wheels 104 which are arranged on the sliding rod 10 on one side and provided with independent retractable wheel frames, and encoders 105 arranged on the mileage wheels 104; the sliding rod 10 at two ends of the linear bearing 102 is provided with a spring 101;

the electronic bin 20 is internally provided with: the system comprises an inertia measurement unit 201, an acquisition control module and a power supply module;

the walking wheels 103 are synchronously contracted through the springs, so that the geometric center of the inertial measurement unit 201 is consistent with the central axis of the electronic cabin 20;

the acquisition control module controls the inertial measurement unit 201 and the encoder 105 to acquire measurement data, and compares the measurement data with three-dimensional curve data of a pipeline reference moment to obtain the three-dimensional curve deformation of the pipeline.

The measuring robot provided by the invention is provided with an electronic bin, and a travelling wheel and a mileage wheel which are arranged on sliding rods at two sides of the electronic bin, wherein the electronic bin is arranged at the center of the whole measuring robot, and the center of an inertia measuring unit arranged on an acquisition board is positioned on the central axis of the electronic bin and also positioned on the central axis of a pipeline.

The walking wheel of synchronous tensioning is installed in the both sides in electron storehouse, and each side sets up at least a set of walking wheel, sets up three evenly distributed's walking wheel on every group walking wheel of preferred, walking wheel 103 installs on the wheel support, and the suitable wear-resisting resin material of hardness is selected to the wheel of walking wheel 103, the wheel support passes through linear bearing 102 and slide bar connection, and the spring is installed at linear bearing 102 both ends on the slide bar 10, can make three walking wheel shrink in step, and then guarantees the tensioning of wheel frame in the pipeline for the frame axis is unanimous with the pipeline axis. The elasticity of the spring on the sliding rod 10 is adjustable, so that the travelling wheel can be strictly attached to the pipe wall.

An encoder 105 is correspondingly arranged on each mileage wheel 104; the encoder 105 converts the mechanical geometric displacement on the output shaft of the odometer wheel into pulse or digital quantity through photoelectric conversion, and transmits the pulse or digital quantity to the acquisition control module connected with the pulse or digital quantity. The sliding rod 10 at both ends of the linear bearing 102 is provided with a spring 101.

In combination with the rear view of the measuring robot shown in fig. 2 and the left and right views shown in fig. 3 and 4, in specific implementation, a group of walking wheels (each group includes three walking wheels) and a group of mileage wheels are selected, the three walking wheels contained in each group are uniformly distributed, the three mileage wheels contained in each group are uniformly distributed, and the three walking wheels are synchronously tensioned through a wheel support and springs arranged in the middle of two ends of the wheel support, so that the geometric center pipeline center of the measuring robot is controlled to be consistent. The mileage wheel is independently tensioned, so that the mileage wheel is ensured to be tightly attached to the inner wall of the pipeline during measurement, and the accuracy of measurement data is ensured.

Preferably, the acquisition board is further provided with an FPGA unit and a crystal oscillator unit;

referring to fig. 5, the inertia measurement unit disposed on the acquisition board is connected to the FPGA unit through an RS-422 to LVTTL interface; and the FPGA unit is in communication connection with an upper computer through a UART interface and a USB-to-serial interface respectively.

The FPGA unit triggers and controls the inertia measurement unit and the encoder to synchronously acquire measurement data according to the clock signal output by the crystal oscillator unit and uploads the acquired measurement data to the upper computer unit;

The acquisition board is also provided with a power module for providing power, and the power module is connected with the inertia measurement unit, the FPGA unit, the crystal oscillator unit and the upper computer unit.

The multi-sensor integrated measuring system arranged on the acquisition board is the core of the measuring robot. In the electronic bin, a multi-sensor integrated measuring system is composed of an FPGA module core control module, a crystal oscillator unit with a high-precision time reference source, an inertia measuring unit, an upper computer unit, a power supply module and other modules. In the invention, an FPGA module is adopted to integrate an inertia measurement unit and three paths of high-precision encoders. Specifically, a high-voltage-stabilization temperature-control supplementary quartz crystal with the frequency-temperature stability characteristic of 1ppm is used as a system time reference source, data synchronization is triggered by an FPGA unit by using time as a trigger source, and an Inertial Measurement Unit (IMU) and a photoelectric encoder are controlled to synchronously acquire and upload measurement data.

The upper computer unit sends an acquisition control instruction to the FPGA unit through the UART interface, and the FPGA unit uploads the pipeline measurement data to the upper computer unit for analysis and storage according to a set protocol in real time through the USB-to-serial port interface after receiving the trigger instruction. The acquisition control module realizes synchronous acquisition and transmission control of multi-sensor data, and has strong anti-interference capability. Through the parallel control characteristic of the FPGA unit, the microsecond-level multi-sensor time synchronization is realized, and the hardware basis for realizing high-precision data fusion is realized.

In order to make the measuring robot move in the pipeline, preferably, as shown in fig. 6, power traction devices are arranged at two ends of the sliding rod; the power traction device comprises: a drive motor and an electric capstan; the driving motor drives a pull wire on the electric rubber disc to pull the measuring robot to move back and forth.

Specifically, a winch consisting of a small-sized automatic motor and a strong thin fiber pull wire is used as the traction power of the measuring robot. In operation, the movement of the measuring robot is controlled by controlling the movement of the drive motor. The electric winches are arranged at the two ends of the pipeline, so that the measuring robot can reciprocate in the pipeline to measure for multiple times. A servo motor driven by a programmable controller is adopted to modify the traction device, so that the automatic movement measurement of the measuring robot is realized.

The operation of the measuring robot is divided into three phases, including a preparation phase, a measuring phase and an end phase. In the preparation stage, electric winches are arranged at two ends of a pipeline to be measured, strong thin fiber pull wires of the electric winches are threaded into the pipeline by using a threading device, and the pull wires are connected with universal pull rings at two ends of a pipeline measuring robot. In the measuring stage, a power switch of the pipeline robot is opened, and the pipeline robot is static at the pipe orifice for 5-10min for initialization. After initialization is finished, the working of one winch and the rotating state of one winch are guaranteed, so that the measuring robot can move back and forth in the pipeline for multiple times, and multiple measurements on the same deformation monitoring pipe section are realized. And when the measurement is finished, ensuring that the pipeline robot is still in one pipeline for 5-10 min. At the end stage, the pipeline measuring robot is taken out, and the electric winch is disconnected for pulling the cable.

The second embodiment provided by the invention is an implementation method for measuring a three-dimensional curve of a pipeline by a robot, as shown in fig. 7, comprising the following steps:

and S71, controlling the measuring robot to keep the geometric center of the inertial measuring unit on the central axis of the electronic bin and move back and forth in the pipeline, and controlling the inertial measuring unit and the encoder unit to acquire measured data.

In the step, the reciprocating motion of the measuring robot is controlled by power traction devices arranged at two ends of a sliding rod; the power traction device comprises: a drive motor and an electric capstan; the driving motor drives a pull wire on the electric rubber disc to pull the measuring robot to move back and forth. In order to ensure the accuracy of the measured data, the geometric center of the inertial measurement unit is required to be positioned on the central axis of the electronic cabin.

And step S72, comparing the measurement data collected by the inertia measurement unit and the encoder with the three-dimensional curve data of the pipeline reference time to obtain the deformation of the pipeline three-dimensional curve.

Specifically, the step of controlling the measuring robot to keep the geometric center of the inertial measuring unit on the central axis of the electronic cabin and to move back and forth in the pipeline further includes:

each travelling wheel synchronously contracts through a spring arranged on the sliding rod and independently contracts through at least two mileage wheels of each independent contraction wheel carrier to keep the geometric center of the inertia measurement unit on the central axis of the electronic bin;

Specifically, in order to ensure smooth acquisition and data transmission of measurement data, the acquisition board is also provided with an FPGA unit and a crystal oscillator unit;

the method further comprises the following steps:

the FPGA unit triggers and controls the inertia measurement unit and the encoder to synchronously acquire measurement data according to a clock signal output by the crystal oscillator unit and uploads the acquired measurement data to an upper computer;

and the upper computer compares the received measurement data with the three-dimensional curve data of the pipeline reference time to obtain the deformation of the three-dimensional curve of the pipeline.

The invention has the beneficial effects that the invention provides a pipeline three-dimensional curve measuring robot and an implementation method thereof, and the measuring robot comprises: the device comprises an electronic bin, slide bars connected with the centers of two sides of the electronic bin, a wheel bracket connected with the slide bars through linear bearings, at least two groups of walking wheels uniformly distributed on the wheel bracket, at least one group of mileage wheels arranged on the slide bars on one side and provided with independent contraction wheel carriers, and encoders arranged on the mileage wheels; the electronic bin is internally provided with: an inertial measurement unit mounted on the acquisition board; when the measuring robot is used for measuring, the measuring robot is controlled to keep the geometric center of the inertial measuring unit on the central axis of the electronic bin and move back and forth in the pipeline, and meanwhile, the inertial measuring unit collects measuring data; and comparing the measurement data acquired by the inertia measurement unit with the three-dimensional curve data of the pipeline reference moment to obtain the three-dimensional curve deformation of the pipeline. The measuring robot provided by the invention realizes that the measuring point of the pipeline measuring vehicle is always kept on the central axis of the pipeline by synchronously tensioning the walking wheels, realizes high-precision mileage measurement by independently tensioning the mileage wheels, and realizes synchronous data acquisition of a multi-path mileage meter and high-precision inertial navigation by the high-precision integrated acquisition board. The inertial navigation measuring device provided by the invention can realize millimeter-scale pipeline three-dimensional curve deformation measurement precision and can meet the requirement of deformation monitoring.

It should be understood that equivalents and modifications of the technical solution and inventive concept thereof may occur to those skilled in the art, and all such modifications and alterations should fall within the scope of the appended claims.

Claims

1. A robot for measuring a three-dimensional curve of a pipe, comprising:

the device comprises an electronic bin, slide bars connected with the centers of two sides of the electronic bin, a wheel bracket connected with the slide bars through linear bearings, at least two groups of walking wheels uniformly distributed on the wheel bracket, at least one group of mileage wheels arranged on the slide bars on one side and provided with independent contraction wheel carriers, and encoders arranged on the mileage wheels; the sliding rods at the two ends of the linear bearing are provided with springs;

the electronic bin is internally provided with: the device comprises an inertia measurement unit, an acquisition control module and a power supply module;

each group of the travelling wheels synchronously contracts through the spring so that the geometric center of the inertia measurement unit is consistent with the central axis of the electronic cabin;

the acquisition control module controls the inertial measurement unit and the encoder to synchronously acquire the measurement data, and compares a three-dimensional curve calculated by the measurement data with three-dimensional curve data of a pipeline reference moment to obtain the deformation of the three-dimensional curve of the pipeline;

the acquisition control module comprises: the system comprises an FPGA unit, a crystal oscillator unit and an upper computer unit;

the FPGA unit is in communication connection with the upper computer unit through a UART interface and a USB-to-serial interface respectively; the system is used for triggering and controlling an inertia measurement unit and the encoder to synchronously acquire measurement data according to a clock signal output by the crystal oscillator unit and uploading the acquired measurement data to an upper computer unit;

the upper computer unit sends a data acquisition control instruction to the FPGA unit through a UART interface and receives measurement data through a USB-to-serial port interface;

an encoder is uniformly and correspondingly arranged on each mileage wheel; the encoder converts mechanical geometric displacement on an output shaft on the mileage wheel into pulse or digital quantity through photoelectric conversion, and transmits the pulse or digital quantity to an acquisition control module connected with the pulse or digital quantity.

2. The pipeline three-dimensional curve measuring robot according to claim 1, wherein power traction devices are arranged at two ends of the sliding rod;

the power traction device comprises: a drive motor and an electric capstan; the driving motor drives a pull wire on the electric rubber disc to pull the measuring robot to move back and forth.

3. The pipeline three-dimensional curve measuring robot as claimed in claim 2, wherein the number of the walking wheels in each group is three, and the three walking wheels are uniformly and symmetrically arranged.

4. The pipeline three-dimensional curve measuring robot according to claim 2, wherein the number of the mileage wheels in each group is three, and the three mileage wheels are uniformly and symmetrically arranged.

5. The pipeline three-dimensional curve measuring robot as claimed in claim 2, wherein the power supply module is connected with the inertia measuring unit, the FPGA unit, the crystal oscillator unit and the upper computer unit.

6. An implementation method for measuring a three-dimensional curve of a pipeline by using the measuring robot as claimed in claim 1, comprising:

controlling the measuring robot to keep the geometric center of the inertial measuring unit consistent with the central axis of the electronic bin to move back and forth in the pipeline, and simultaneously controlling the inertial measuring unit and the encoder to acquire measuring data;

comparing a three-dimensional curve obtained by resolving measurement data acquired by an inertia measurement unit and an encoder with three-dimensional curve data of a pipeline reference moment to obtain a pipeline three-dimensional curve deformation;

the acquisition control module is also provided with an FPGA unit, a crystal oscillator unit and an upper computer unit;

the method further comprises the following steps:

and the upper computer unit compares a three-dimensional curve obtained by resolving the received measurement data with three-dimensional curve data of a pipeline reference moment to obtain the deformation of the three-dimensional curve of the pipeline.

7. The method for realizing the three-dimensional curve of the measuring pipeline of the measuring robot according to claim 6, wherein the step of controlling the measuring robot to move back and forth in the pipeline with the geometric center of the inertial measuring unit consistent with the central axis of the electronic cabin further comprises the following steps:

each travelling wheel synchronously contracts through a spring arranged on the sliding rod and independently contracts through at least two mileage wheels of each independent contraction wheel carrier to keep the geometric center of the inertia measurement unit consistent with the central axis of the electronic bin;